... Combined perception and control for timing in robotic music performances Umut Sim¸ekli∗ , Orhan S¨nmez, ¸ s o Barı¸ Kurt and Ali Taylan Cemgil s Department of Computer Engineering, Bo˘azi¸i ... challenging task for robots as it involves online perception and precise synchronization In this paper, we present a consistent and theoretically sound framework for combining perception and control ... control for accurate musical timing For the perception, we develop a hierarchical hidden Markov model that combines event detection and tempo tracking The robot performance is formulated as a linear...